Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides a control method of an automatic pool cleaning device, the automatic pool cleaning device comprises a laser radar, and the control method comprises the following steps: controlling the automatic pool cleaning device to move towards a base station; acquiring at least one part of point cloud data of the base station through the laser radar; and on the basis of the point cloud data, parameters of the automatic pool cleaning device in the moving process are adjusted, so that the automatic pool cleaning device is in butt joint with the base station.

Description

Technical Field

[0001] This application relates to the technical field of automatic pool cleaning devices, and particularly to an automatic pool cleaning device, its control method, and a computer storage medium. Background Art

[0002] With the increasing usage frequency and application scenarios of pool cleaning robots, charging the pool cleaning robot has become an important step. Considering that pool cleaning robots usually need to work in the pool for a long time and their bodies are heavy, the traditional charging method requires users to take the robot out of the pool and place it on the charging dock, which not only increases the workload but also reduces convenience. More and more pool robots adopt an automatic recharging function, and the robot can automatically enter the charging dock for charging when the battery is low. However, previous automatic recharging technologies mostly rely on simple ultrasonic sensors or magnetic induction sensors, resulting in insufficient accuracy. Especially when the entrance of the charging dock is narrow and the body of the robot is large, it is easy to deviate or collide, leading to an unsuccessful charging docking. Summary of the Invention

[0003] In view of the above deficiencies of the prior art, this application provides a control method for an automatic pool cleaning device. The automatic pool cleaning device includes a lidar, and the control method includes: controlling the automatic pool cleaning device to move towards the base station;

[0004] Collecting at least a part of the point cloud data of the base station through the lidar; and based on the point cloud data, adjusting the parameters of the automatic pool cleaning device during the movement so that the automatic pool cleaning device docks with the base station.

[0005] Further, the parameters include one or more of the following: the movement path of the automatic pool cleaning device, the heading angle, or the movement speed.

[0006] Further, based on the point cloud data, adjusting the parameters of the automatic pool cleaning device during the movement includes: obtaining the contour information of the base station and the relative position information between the base station and the automatic pool cleaning device based on the point cloud data; and according to the contour information and the relative position information, adjusting the parameters of the automatic pool cleaning device during the movement to keep the charging interface of the base station in the movement direction of the automatic pool cleaning device.

[0007] Further, the docking of the automatic pool cleaning device with the base station includes: docking the power interface of the automatic pool cleaning device with the charging interface of the base station.

[0008] Further, the base station is located on the pool wall or the pool bottom of the pool.

[0009] Further, the parameters are adjusted by a water spraying mechanism, a traveling mechanism or a paddle on the automatic pool cleaning device.

[0010] Further, before controlling the automatic pool cleaning device to move towards the base station, the control method further includes: determining whether the automatic pool cleaning device meets a predetermined condition, where the predetermined condition includes one or more of the following:

[0011] The power of the automatic pool cleaning device is lower than a predetermined power threshold; the automatic pool cleaning device breaks down; the current operation task of the automatic pool cleaning device ends; the automatic pool cleaning device receives a recall instruction; or the degree of dirt collection in the trash basket of the automatic pool cleaning device reaches a predetermined level.

[0012] Further, the acquisition of the point cloud data of at least a part of the base station by the lidar includes: when the automatic pool cleaning device moves to a distance from the base station within a predetermined distance threshold, acquiring the point cloud data of the base station by the lidar.

[0013] This application also provides an automatic pool cleaning device, where the automatic pool cleaning device can execute the method of any one of the above.

[0014] This application also provides a non-volatile computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method described in any embodiment of this application is implemented.

[0015] The embodiments described in this application have the following beneficial effects:

[0016] The control method of the automatic pool cleaning device provided by this application can enable the automatic pool cleaning device to accurately dock with the base station during automatic recharging, avoiding the situation that the automatic pool cleaning device runs off course during the movement towards the base station and docking, resulting in docking failure, or the automatic pool cleaning device colliding with the base station, and improving the stability and reliability of the automatic recharging function of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0018] Figure 1 shows the flow of the control method of the automatic pool cleaning device of this application Figure 1 ;

[0019] Figure 2It is a flowchart showing the control method of the automatic pool cleaning device of the present application Figure 2 ; and

[0020] Figure 3 It is a schematic diagram showing the docking of the automatic pool cleaning device of the present application with the base station Detailed implementation manners

[0021] The embodiments of the present disclosure will be described below with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other

[0022] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device applying the control method, and a computer storage medium. The automatic pool cleaning device disclosed in the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building may be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device may be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation forms of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following text, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device for description, and the swimming pool will be used as an example of the pool or the pool-shaped building for description

[0023] The automatic pool cleaning device includes a lidar. The lidar has characteristics such as waterproof, corrosion resistance, and high-precision ranging. The lidar is disposed on the body of the automatic pool cleaning device. For example, it can be disposed at the front of the automatic pool cleaning device, and the front of the automatic pool cleaning device corresponds to the advancing direction of the automatic pool cleaning device. The lidar may be, for example, an LDS (Laser Distance Sensor) lidar. By disposing the LDS lidar on the automatic pool cleaning device, the LDS lidar can simultaneously scan and identify the surroundings of the automatic pool cleaning device. The above-described setting position of the lidar is only exemplary, and the present application does not limit the setting position and type of the lidar, as long as the technical principle of the present application can be realized

[0024] A lidar can, for example, emit an optical signal (such as a laser) in the moving direction of the pool automatic cleaning device. When the optical signal encounters an object (such as an obstacle in front of the pool automatic cleaning device), the optical signal will be reflected back to the lidar by the object. At this time, the lidar calculates the distance between the pool automatic cleaning device and the object through the time difference or phase difference of the optical signal from emission to return. The lidar can also measure the deflection angle of the reflected optical signal. The controller of the pool automatic cleaning device can convert the measured distance information and angle information into three-dimensional coordinates through the lidar, and further generate the point cloud of the object. The controller can further analyze the contour information and position information of the obstacle in front of the pool automatic cleaning device according to the collected point cloud data.

[0025] The following refers to Figure 1 and Figure 3 to illustrate the control method 100 of the pool automatic cleaning device provided by the present application. The control method 100 includes: controlling the pool automatic cleaning device to move towards the base station; collecting at least a part of the point cloud data of the base station through the lidar; and based on the point cloud data, adjusting the parameters of the pool automatic cleaning device during the movement so that the pool automatic cleaning device docks with the base station.

[0026] Figure 1 The flowchart of the control method 100 of the pool automatic cleaning device according to an embodiment of the present application is shown. The control method 100 includes step S101 to step S103. The following will illustrate step S101 to step S103.

[0027] In step S101, control the pool automatic cleaning device to move towards the base station. The base station can be, for example, a power supply base station that can charge the pool automatic cleaning device. The movement can be that the robot moves towards the base station along the planned path. The robot can use a path planning algorithm to obtain the path for the robot to move towards the base station. For example, the movement path can be the movement path with the shortest straight-line distance from the current position of the robot to the base station. The movement can also be that the robot moves towards the base station along a determined direction.

[0028] For example, the base station may be located on the pool wall or the bottom of the pool. If the base station is set at the bottom of the pool, the robot can dock with the base station and complete charging without coming ashore. If the base station is set on the upper edge of the pool wall, the robot can move towards the base station on the water surface or move towards the base station through the pool wall at the bottom of the pool. If the base station is set at the bottom of the pool wall, the robot can move towards the base station at the bottom of the pool or move towards the base station through the pool wall on the water surface. The movement path of the robot in step S101 may vary according to the actual position of the base station, the current working mode of the robot, and the docking method between the robot and the base station, as long as the technical principle of this application can be achieved.

[0029] The position of the base station can be recognized and obtained based on the sensing sensors set on the robot, so as to control the robot to move towards the base station. It can also be based on a pre-constructed map on which the position of the base station is marked to control the robot to move towards the base station.

[0030] Next, enter step S102. In step S102, at least a part of the point cloud data of the base station is collected by the lidar.

[0031] Figure 3 Shows a schematic diagram of the automatic pool cleaning device of this application docking with the base station. As Figure 3 shown, the base station 200 includes a charging interface 201, and the charging interface 201 includes two electrodes on the left and right. The robot 300 includes a power interface 301 (including two electrodes on the left and right) and a lidar 302.

[0032] At least a part of the base station may be, for example, the charging interface 201 located on the base station or the area corresponding to the charging interface 201. Specifically, during the process of the robot 300 moving towards the base station 200, the point cloud data of the charging interface 201 on the base station 200 can be collected by the method of collecting point cloud data through the lidar 302. It can be understood that the point cloud data of the charging interface 201 includes the coordinates of the charging interface 201. The robot 300 can obtain the contour information and position information of the charging interface 201 according to the coordinates of the charging interface 201, and then plan or adjust the parameters during the movement of the robot 300 according to the contour information and position information, so that the robot 300 moves towards the base station 200 (which will be described in detail below). At least a part of the base station 200 may also be a specific area on the base station, such as: an area with a specific identifier (such as a luminous identifier), an area with a specific shape (such as a circle, a square, etc.), as long as the technical principle of this application can be achieved.

[0033] In step S102, the overall point cloud data of the base station 200 can also be collected by the lidar 302. Specifically, during the movement of the robot 300 towards the base station 200, the overall point cloud data of the base station 200 can be collected by the method of collecting point cloud data through the lidar 302. In other words, the robot 300 can collect the point cloud data of the overall contour of the base station 200 through the lidar 302. The robot 300 can plan or adjust the parameters during the movement of the robot 300 according to the overall point cloud data of the base station 200, so that the robot moves towards the base station.

[0034] Next, step S103 is entered. In step S103, based on the point cloud data, the parameters during the movement of the pool automatic cleaning device are adjusted so that the pool automatic cleaning device docks with the base station.

[0035] Specifically, as described above, during the movement of the robot towards the base station, at least a part of the point cloud data of the base station is obtained through the lidar, that is, at least a part of the contour information and position information of the base station are obtained. The robot can calculate the azimuth and distance of the base station relative to the current robot according to the contour information and the position information.

[0036] Taking the charging interface 201 described above as an example, the robot can obtain the point cloud data of the charging interface in real time through the lidar. And during the movement, the robot adjusts the parameters during the movement in real time so that the charging interface is always at the center position of the field of view angle of the lidar or the charging interface 201 is always within the field of view angle of the lidar. Thus, it can be ensured that the robot is aligned with the base station during the movement (for example, always moves towards the base station) until the robot docks with the base station. Among them, the docking of the robot with the base station can be understood as the contact between the designated component on the robot and the designated component on the base station, or the opposition between the designated area on the robot and the designated area on the base station. For example, the power interface of the robot is docked with the charging interface of the base station to realize the function of the base station charging the robot, or the walking mechanism of the robot moves to the corresponding position of the base station to facilitate the recycling of the garbage in the robot or the charging of the robot. If at a certain moment during the movement of the robot, it is detected through the lidar that the charging interface of the base station deviates from the center position of the field of view angle of the lidar, the robot determines that the robot is not aligned with the base station (that is, has deviated from the direction towards the base station). Therefore, the robot needs to adjust the moving direction so that the robot is aligned with the base station. In this case, the robot will calculate the azimuth and distance of the charging interface relative to the robot according to the point cloud data of the charging interface, and thus adjust the parameters during the movement of the robot to make the charging interface return to the center position of the field of view angle of the lidar again.

[0037] It can be understood that the above description of adjusting the parameters during the movement of the robot in combination with the charging interface of the base station and the central position of the charging interface within the field of view angle of the lidar is an exemplary illustration of the technical concept of this application. Those skilled in the art can select the specific reference position on the base station (such as a specific marked area, a specific contour area, the contour of the entire base station, etc.) and the positional relationship between this reference position and the field of view angle of the lidar according to the actual situation, as long as the technical principle of this application can be achieved.

[0038] Through the control method described above, during the movement and docking of the robot towards the base station, if the movement direction of the robot deviates from the direction towards the base station due to external factors (such as water flow, wind force, etc.) (that is, the robot is not aligned with the base station), the robot can use the lidar to timely adjust the parameters during the movement, so that the robot can maintain the movement direction towards the base station (that is, the robot is aligned with the base station), and finally achieve the docking of the robot with the base station (such as achieving the docking of the power interface of the robot with the charging interface of the base station), thereby charging the robot. Through the above method, it can be avoided that during the movement of the robot towards the base station and docking with the base station, the robot runs off course resulting in docking failure, or the robot collides with the base station, improving the stability and reliability of the robot's recharging function. It should be noted that the terms "alignment" and "docking" complement each other. The robot needs to be aligned with the base station during the movement towards the base station to create conditions for subsequent docking.

[0039] The parameters of the robot during the movement include one or more of the following: the movement path of the pool automatic cleaning device, the heading angle, or the movement speed.

[0040] The robot can change its movement path towards the base station by turning (that is, changing the heading angle). The robot can be equipped with an inertial measurement unit (IMU) and measure the heading angle of the robot through the inertial measurement unit.

[0041] The robot can also be equipped with a distance sensor and measure the movement speed of the robot by measuring the distance change between the robot and the target object (such as the base station, the charging interface on the base station, etc.).

[0042] The robot can also be equipped with a wheel speed meter and measure the movement speed of the robot through the wheel speed meter.

[0043] During the movement of the robot, one or more of the above-mentioned parameters can be adjusted by adjusting the speed difference between the driving wheels or the drainage direction of the water pump. For example, if it is determined through the above control method that the charging interface deviates to the left from the field of view angle of the lidar, that is, the charging interface is located at a position on the left side of the field of view angle of the lidar, the robot can adjust the heading angle (for example, deflect to the left by a certain angle or move to the left by a certain distance) by adjusting the speed difference between the driving wheels, adjusting the drainage direction of the water pump, etc., so that the charging interface is located at or returns to the center position of the field of view angle of the lidar. The adjustment methods of the parameters will be described in detail below in combination with specific examples.

[0044] For example, if the robot determines through the above control method that the current moving path is not aligned with the base station, or the current moving path of the robot cannot align the robot with the base station, or there are obstacles on the current moving path of the robot (the obstacles block the alignment between the robot and the base station), the robot can adjust the moving path of the robot by adjusting the speed difference between the driving wheels, adjusting the drainage direction of the water pump, etc., so that the new moving path of the robot is aligned with the base station, or the robot bypasses the obstacles along the new moving path, thereby achieving the alignment and docking between the robot and the base station.

[0045] For example, if the charging interface of the base station is on the moving path of the robot, it means that the robot is aligned with the charging interface. The robot can continue to drive in this direction to attempt to dock with the charging interface of the base station. If the charging interface of the base station is on the right side of the moving direction of the robot, it is determined that the robot is not aligned with the charging interface of the base station. In this case, the heading angle of the robot can be changed according to the angle between the forward direction of the robot and the charging interface on the base station, so that the robot deflects to the right by a certain angle until it is detected that the charging interface of the base station is on the moving direction of the robot.

[0046] In step S103, based on the point cloud data, adjusting the parameters of the pool automatic cleaning device during movement may include: obtaining the contour information of the base station and the relative position information between the base station and the pool automatic cleaning device based on the point cloud data; adjusting the parameters of the pool automatic cleaning device during movement according to the contour information and the relative position information to keep the charging interface of the base station on the moving direction of the pool automatic cleaning device.

[0047] The robot can calculate the base station contour information and the relative position information between the base station and the robot based on the point cloud data obtained by the lidar. The contour information can represent the external contour of the base station. For example, if there is a docking guide structure on the base station, the specific position and shape of the guide structure can be obtained based on the contour information of the base station, and then the robot can be controlled to dock with the base station along the guide structure. The relative position information between the base station and the robot can represent the direction and distance of the base station relative to the robot. By combining the contour information and the relative position information, the robot can accurately obtain the relative position between the base station and the robot, so that the robot can accurately adjust the parameters during the movement process.

[0048] Further, the automatic pool cleaning device is docked with the base station, including: the power interface of the automatic pool cleaning device is docked with the charging interface of the base station.

[0049] When the robot returns to the base station and docks and charges with the base station, it is necessary to dock the power interface of the robot with the charging interface of the base station, and the current is transmitted from the charging interface of the base station through the power interface of the robot to the battery of the robot.

[0050] The lidar can collect the point cloud data of the charging interface of the base station. Then, the robot can calculate the contour information and position information of the charging interface based on the point cloud data of the charging interface. The robot can adjust the parameters during the movement process of the robot according to the contour information and the position information, so that the power interface of the robot is docked with the charging interface of the base station. If the power interface of the robot and the charging interface of the base station are not aligned during the movement of the robot, one or more of the movement path, heading angle, or movement speed of the robot can be adjusted by referring to the methods described above, such as changing the wheel speed difference of the drive wheels and changing the drainage direction of the water pump, to achieve the alignment and docking of the power interface of the robot and the charging interface of the base station.

[0051] Further, the parameters are adjusted by the water spraying mechanism, traveling mechanism, or paddle on the automatic pool cleaning device.

[0052] The water spraying mechanism is, for example, a water pump. The water spraying mechanism can be arranged at the rear of the automatic pool cleaning device or on the top of the robot. The water spraying mechanism can utilize the reaction force of the water spray to provide power for the movement of the robot. The water spraying mechanism changes the spraying angle to change the movement path and heading angle of the robot. The water spraying mechanism described above is only exemplary, and the position and number of the water spraying mechanism can be set according to the actual situation as long as the technical principle of the present application can be realized.

[0053] The traveling mechanism can be mechanisms such as the crawlers and drive wheels of the robot. The crawlers and / or drive wheels are arranged on both sides of the robot and are in contact with the pool bottom. The rotation of the crawlers and / or drive wheels enables the automatic pool cleaning device to move forward overcoming the friction force of the pool bottom. The robot can change the heading angle through the wheel speed difference between the crawlers on both sides and / or the drive wheels on both sides. The robot can also change the moving speed of the robot by changing the speed of the crawlers and / or drive wheels.

[0054] The blades can be arranged on both sides of the rear part or both sides of the fuselage of the robot. The reaction force generated by the rotation of the blades to push the water flow can provide power for the robot to move. The rotation speed difference between the blades on both sides of the robot can change the heading angle of the robot.

[0055] The following refers to Figure 2 The control method 200 of another embodiment of the present application will be described. The control method 200 provided by another embodiment of the present application includes: determining whether the automatic pool cleaning device meets a predetermined condition; if the predetermined condition is met, controlling the automatic pool cleaning device to move towards the base station; collecting point cloud data of at least a part of the base station through the lidar; and based on the point cloud data, adjusting the parameters of the automatic pool cleaning device during the movement so that the automatic pool cleaning device is docked with the base station.

[0056] Compare Figure 2 With Figure 1 It can be seen that Figure 2 The difference between the control method 200 shown in Figure 1 And the control method 100 shown in Figure 2 Is that before controlling the automatic pool cleaning device to move towards the base station, the control method 200 shown in

[0057] The predetermined condition includes one or more of the following: the power of the automatic pool cleaning device is lower than a predetermined power threshold; the automatic pool cleaning device fails; the current operation task of the automatic pool cleaning device ends; the automatic pool cleaning device receives a recall instruction; or the degree of dirt collection in the trash basket of the automatic pool cleaning device reaches a predetermined level.

[0058] For example, if the current battery level of the robot is lower than a predetermined battery threshold, it indicates that the remaining battery power of the robot cannot support the robot to continue the cleaning operation. Therefore, the robot needs to return to the base station and charge, and the robot needs to reserve a part of the battery power to move from the current position to the base station.

[0059] For example, if the robot malfunctions and cannot perform normal cleaning operations, the robot needs to return to the base station. After the robot returns to the base station, it waits to be salvaged by the user, and the user can repair the robot.

[0060] For example, if the current operation task of the robot has ended, the robot can return to the base station. After the robot returns to the base station, it can wait for a new operation instruction or wait to be salvaged by the user and clean the trash basket in the robot.

[0061] For example, the robot can receive a recall instruction, which requires the robot to return to the base station and wait for a new instruction or wait to be salvaged by the user. The recall instruction can include an immediate recall instruction or a timed recall instruction.

[0062] For example, if the degree of dirt collection in the trash basket inside the robot reaches a predetermined level and affects normal cleaning operations, the robot can return to the base station and wait for the user to clean the trash basket of the pool automatic cleaning device.

[0063] When the pool automatic cleaning device meets at least one of the above conditions, the pool automatic cleaning device enters step S202, moves towards the base station, and sequentially executes steps S202 - S204.

[0064] In addition, during the process of moving towards the base station, the distance between the pool automatic cleaning device and the base station can be detected. When the distance reaches a predetermined distance threshold, the point cloud data of the base station can be collected by the lidar, and the robot can be controlled to dock with the base station in the manner described in the above embodiments. Among them, the predetermined distance threshold can be determined according to the sensing distance of the lidar. When the base station appears within the sensing distance of the robot, the lidar can collect the point cloud data of the base station. If the distance is too far, it is easy to exceed the sensing range of the lidar or be affected by other obstacles, resulting in the inability to collect the point cloud data of the base station or the collected point cloud data being prone to distortion.

[0065] The present application also provides a pool automatic cleaning device, wherein the pool automatic cleaning device can execute the method of any one of the above.

[0066] The automatic pool cleaning device can be, for example, a cleaning device such as an automatic pool cleaning robot or an automatic pool sweeping robot. The automatic pool cleaning device includes a lidar. When the automatic pool cleaning device meets the predetermined conditions described above, it starts to execute the control program, which has been described in detail above and will not be elaborated here.

[0067] This application also provides a non-volatile computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements the method described in any embodiment of this application.

[0068] It should be understood that the non-volatile computer storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this application, the above storage medium may include, but is not limited to: USB flash drives, read-only memories (ROMs), random access memories (RAMs), external hard drives, magnetic disks, or optical discs, etc., all of which can store program codes.

[0069] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0070] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0071] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0072] In this application, unless otherwise stated, the directional terms such as "upper" and "lower" generally refer to the directions shown in the drawings, or to the vertical, perpendicular or gravitational directions; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contours of the respective components themselves, but the above directional terms are not used to limit this application.

[0073] The above is only an exemplary embodiment of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope recorded in this application can easily think of various changes or substitutions, and these should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, the automatic pool cleaning device including a lidar, the control method comprising: Controlling the automatic pool cleaning device to move towards a base station; Collecting point cloud data of at least a part of the base station by means of the lidar; And Based on the point cloud data, adjusting parameters of the automatic pool cleaning device during movement so that the automatic pool cleaning device docks with the base station.

2. The control method according to claim 1, wherein The parameters include one or more of the following: the movement path of the automatic pool cleaning device, the heading angle, or the movement speed.

3. The control method according to any one of claims 1-2, wherein, Based on the point cloud data, adjusting parameters of the automatic pool cleaning device during movement includes: Obtaining the contour information of the base station and the relative position information between the base station and the automatic pool cleaning device based on the point cloud data; According to the contour information and the relative position information, adjusting parameters of the automatic pool cleaning device during movement to keep the charging interface of the base station in the movement direction of the automatic pool cleaning device.

4. The control method according to claim 1, wherein, The docking of the automatic pool cleaning device with the base station includes: the power interface of the automatic pool cleaning device is docked with the charging interface of the base station.

5. The control method according to claim 1, wherein, The base station is located on the pool wall of the pool or at the bottom of the pool.

6. The control method according to claim 2, wherein, The parameters are adjusted by a water spraying mechanism, a traveling mechanism or a paddle on the automatic pool cleaning device.

7. The control method according to claim 1, wherein Before controlling the automatic pool cleaning device to move towards the base station, the control method further includes: judging whether the automatic pool cleaning device meets a predetermined condition, the predetermined condition including one or more of the following: The power of the automatic pool cleaning device is lower than a predetermined power threshold; The automatic pool cleaning device breaks down; The current operation task of the automatic pool cleaning device ends; The automatic pool cleaning device receives a recall instruction; Or the degree of dirt collection in the trash basket of the automatic pool cleaning device reaches a predetermined level.

8. The control method according to claim 1, wherein, The collecting the point cloud data of at least a part of the base station by means of the lidar includes: When the automatic pool cleaning device moves to a distance from the base station within a predetermined distance threshold, collecting the point cloud data of the base station by means of the lidar.

9. An automatic pool cleaning device, wherein, The automatic pool cleaning device is capable of performing the method according to any one of claims 1-8.

10. A non-volatile computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of claims 1-8 is implemented.

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